\doxysection{arm\+\_\+pid\+\_\+instance\+\_\+q31 Struct Reference}
\hypertarget{structarm__pid__instance__q31}{}\label{structarm__pid__instance__q31}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}


Instance structure for the Q31 PID Control.  




{\ttfamily \#include $<$arm\+\_\+math.\+h$>$}

\doxysubsubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_aa5332635ce9c7078cdb4c1ecf442eadd}{A0}}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_a2f7492bd6fb92fae5e2de7fbbec39b0e}{A1}}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_a3e34537c53af4f9ad7bfffa4dff27c82}{A2}}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_a57a7012c3c8c53f91dd3c1a3994e467a}{state}} \mbox{[}3\mbox{]}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_ac2410bf7f856d58dc1d773d4983cac8e}{Kp}}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_aa861d69fd398f29aa0b4b455a823ed72}{Ki}}
\item 
q31\+\_\+t \mbox{\hyperlink{structarm__pid__instance__q31_aab4ff371d14441df501f1169f71cbd17}{Kd}}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
Instance structure for the Q31 PID Control. 

\label{doc-variable-members}
\Hypertarget{structarm__pid__instance__q31_doc-variable-members}
\doxysubsection{Member Data Documentation}
\Hypertarget{structarm__pid__instance__q31_aa5332635ce9c7078cdb4c1ecf442eadd}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!A0@{A0}}
\index{A0@{A0}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{A0}{A0}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_aa5332635ce9c7078cdb4c1ecf442eadd} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+A0}

The derived gain, A0 = Kp + Ki + Kd . \Hypertarget{structarm__pid__instance__q31_a2f7492bd6fb92fae5e2de7fbbec39b0e}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!A1@{A1}}
\index{A1@{A1}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{A1}{A1}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_a2f7492bd6fb92fae5e2de7fbbec39b0e} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+A1}

The derived gain, A1 = -\/Kp -\/ 2Kd. \Hypertarget{structarm__pid__instance__q31_a3e34537c53af4f9ad7bfffa4dff27c82}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!A2@{A2}}
\index{A2@{A2}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{A2}{A2}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_a3e34537c53af4f9ad7bfffa4dff27c82} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+A2}

The derived gain, A2 = Kd . \Hypertarget{structarm__pid__instance__q31_aab4ff371d14441df501f1169f71cbd17}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!Kd@{Kd}}
\index{Kd@{Kd}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{Kd}{Kd}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_aab4ff371d14441df501f1169f71cbd17} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+Kd}

The derivative gain. \Hypertarget{structarm__pid__instance__q31_aa861d69fd398f29aa0b4b455a823ed72}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!Ki@{Ki}}
\index{Ki@{Ki}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{Ki}{Ki}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_aa861d69fd398f29aa0b4b455a823ed72} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+Ki}

The integral gain. \Hypertarget{structarm__pid__instance__q31_ac2410bf7f856d58dc1d773d4983cac8e}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!Kp@{Kp}}
\index{Kp@{Kp}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{Kp}{Kp}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_ac2410bf7f856d58dc1d773d4983cac8e} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::\+Kp}

The proportional gain. \Hypertarget{structarm__pid__instance__q31_a57a7012c3c8c53f91dd3c1a3994e467a}\index{arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}!state@{state}}
\index{state@{state}!arm\_pid\_instance\_q31@{arm\_pid\_instance\_q31}}
\doxysubsubsection{\texorpdfstring{state}{state}}
{\footnotesize\ttfamily \label{structarm__pid__instance__q31_a57a7012c3c8c53f91dd3c1a3994e467a} 
q31\+\_\+t arm\+\_\+pid\+\_\+instance\+\_\+q31\+::state}

The state array of length 3. 

The documentation for this struct was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
C\+:/\+Users/\+ASUS/\+Desktop/dm-\/ctrl\+H7-\/balance-\/9025test/\+Middlewares/\+ST/\+ARM/\+DSP/\+Inc/arm\+\_\+math.\+h\item 
C\+:/\+Users/\+ASUS/\+Desktop/dm-\/ctrl\+H7-\/balance-\/9025test/\+Middlewares/\+ST/\+ARM/\+DSP/\+Include/dsp/controller\+\_\+functions.\+h\end{DoxyCompactItemize}
